2025/09/25 by Chowdhury, Rubaiyat Tasnim, Bala, Nayan, Roy, Ronojoy +1
#FOS: Computer and information sciences #Robotics (cs.RO)
paper · doi:10.48550/arxiv.2509.20964
Traditional rigid underwater vehicles pose risks to delicate marine ecosystems due to high-speed propellers and rigid hulls. This paper presents BactoBot, a low-cost, soft underwater robot designed for safe and gentle marine exploration. Inspired by the efficient flagellar propulsion of bacteria, BactoBot features 12 flexible, silicone-based arms arranged on a dodecahedral frame. Unlike high-cost research platforms, this prototype was fabricated using accessible DIY methods, including food-grade silicone molding, FDM 3D printing, and off-the-shelf DC motors. A novel multi-stage waterproofing protocol was developed to seal rotating shafts using a grease-filled chamber system, ensuring reliability at low cost. The robot was successfully tested in a controlled aquatic environment, demonstrating stable forward propulsion and turning maneuvers. With a total fabrication cost of approximately 355 USD, this project validates the feasibility of democratizing soft robotics for marine science in resource-constrained settings.